Command/com.amarcolini.joos.hardware.drive/MecanumDrive

MecanumDrive

open class MecanumDrive @JvmOverloads constructor(val motors: MotorGroup, trackWidth: Double = 1.0, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0, externalHeadingSensor: AngleSensor? = null) : AbstractMecanumDrive, DriveComponent

A Component implementation of a mecanum drive.

Constructors

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@JvmOverloads
constructor(motors: MotorGroup, constraints: MecanumConstraints, externalHeadingSensor: AngleSensor? = null)

Constructs a mecanum drive using constraints.

@JvmOverloads
constructor(frontLeft: Motor, backLeft: Motor, backRight: Motor, frontRight: Motor, externalHeadingSensor: AngleSensor? = null, constraints: MecanumConstraints = MecanumConstraints(1.0, 1.0, 1.0, 1.0))

Constructs a mecanum drive from its individual motors.

@JvmOverloads
constructor(motors: MotorGroup, trackWidth: Double = 1.0, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0, externalHeadingSensor: AngleSensor? = null)

Properties

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@JvmField
protected val motors: MotorGroup

All the motors in this drive.

Functions

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open override fun getWheelPositions(): List<Double>
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open override fun getWheelVelocities(): List<Double>
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open override fun setMotorPowers(frontLeft: Double, backLeft: Double, backRight: Double, frontRight: Double)
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open override fun setRunMode(runMode: Motor.RunMode)
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open override fun setWheelVelocities(velocities: List<Double>, accelerations: List<Double>)
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open override fun setZeroPowerBehavior(zeroPowerBehavior: Motor.ZeroPowerBehavior)
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open override fun update()

This method is called repeatedly by the CommandScheduler.